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#include <cstdlib> | 
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#include <cstdio> | 
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#include <iostream> | 
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#include <stdlib.h> | 
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#include <stdio.h> | 
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#include "simError.h" | 
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#include "SimState.hpp" | 
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void SimState::createArrays (int the_nElements) { | 
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  int i, index3, index9; | 
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  if( arraysAllocated ){ | 
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    sprintf( painCave.errMsg, | 
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  Amat = new double[nElements*9]; | 
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  mu   = new double[nElements]; | 
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  ul   = new double[nElements*3]; | 
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  quat = new double[nElements*4]; | 
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  // init directional values to zero | 
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    ul[index3+0] = 1.0; | 
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    ul[index3+1] = 0.0; | 
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    ul[index3+2] = 0.0; | 
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    quat[i*4] = 1.0; | 
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    quat[i*4+1] = 0.0; | 
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    quat[i*4+2] = 0.0; | 
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    quat[i*4+3] = 0.0; | 
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  } | 
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  arraysAllocated = true; | 
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  Amat = NULL; | 
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  mu   = NULL; | 
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  ul   = NULL; | 
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  quat = NULL; | 
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  arraysAllocated = false; | 
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  nElements = 0; | 
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} | 
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                                double** the_trq, | 
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                                double** the_Amat, | 
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                                double** the_mu,  | 
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                                double** the_ul ){ | 
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                                double** the_ul, | 
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                                double** the_quat){ | 
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  int index3, index9; | 
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  if( arraysAllocated ){ | 
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    *the_Amat = &(Amat[index9]); | 
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    *the_mu   = &(mu[index]);  | 
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    *the_ul   = &(ul[index3]); | 
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    *the_quat = &(quat[index*4]); | 
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  } | 
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  else{ | 
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